--- /dev/null
+#define DRIVER_VERSION "v0.5"
+#define DRIVER_AUTHOR "Bernd Porr, BerndPorr@f2s.com"
+#define DRIVER_DESC "Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com"
+/*
+ comedi/drivers/usbdux.c
+ Copyright (C) 2011 Bernd Porr, Bernd.Porr@f2s.com
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ */
+/*
+Driver: usbduxsigma
+Description: University of Stirling USB DAQ & INCITE Technology Limited
+Devices: [ITL] USB-DUX (usbduxsigma.o)
+Author: Bernd Porr <BerndPorr@f2s.com>
+Updated: 21 Jul 2011
+status: testing
+*/
+/*
+ * I must give credit here to Chris Baugher who
+ * wrote the driver for AT-MIO-16d. I used some parts of this
+ * driver. I also must give credits to David Brownell
+ * who supported me with the USB development.
+ *
+ * Note: the raw data from the A/D converter is 24 bit big endian
+ * anything else is little endian to/from the dux board
+ *
+ *
+ * Revision history:
+ * 0.1: inital version
+ * 0.2: all basic functions implemented, digital I/O only for one port
+ * 0.3: proper vendor ID and driver name
+ * 0.4: fixed D/A voltage range
+ * 0.5: various bug fixes, health check at startup
+ */
+
+/* generates loads of debug info */
+/* #define NOISY_DUX_DEBUGBUG */
+
+// #define dev_dbg(dev, format, arg...) printk(format , ## arg)
+
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/slab.h>
+#include <linux/input.h>
+#include <linux/usb.h>
+#include <linux/fcntl.h>
+#include <linux/compiler.h>
+#include <linux/firmware.h>
+#include "comedi_fc.h"
+#include <linux/comedidev.h>
+#include <linux/usb.h>
+
+#define BOARDNAME "usbduxsigma"
+
+/* timeout for the USB-transfer in ms*/
+#define BULK_TIMEOUT 1000
+
+/* constants for "firmware" upload and download */
+#define USBDUXSUB_FIRMWARE 0xA0
+#define VENDOR_DIR_IN 0xC0
+#define VENDOR_DIR_OUT 0x40
+
+/* internal addresses of the 8051 processor */
+#define USBDUXSUB_CPUCS 0xE600
+
+/*
+ * the minor device number, major is 180 only for debugging purposes and to
+ * upload special firmware (programming the eeprom etc) which is not
+ * compatible with the comedi framwork
+ */
+#define USBDUXSUB_MINOR 32
+
+/* max lenghth of the transfer-buffer for software upload */
+#define TB_LEN 0x2000
+
+/* Input endpoint number: ISO/IRQ */
+#define ISOINEP 6
+
+/* Output endpoint number: ISO/IRQ */
+#define ISOOUTEP 2
+
+/* This EP sends DUX commands to USBDUX */
+#define COMMAND_OUT_EP 1
+
+/* This EP receives the DUX commands from USBDUX */
+#define COMMAND_IN_EP 8
+
+/* Output endpoint for PWM */
+#define PWM_EP 4
+
+/* 300Hz max frequ under PWM */
+#define MIN_PWM_PERIOD ((long)(1E9/300))
+
+/* Default PWM frequency */
+#define PWM_DEFAULT_PERIOD ((long)(1E9/100))
+
+/* Number of channels (16 AD and offset)*/
+#define NUMCHANNELS 16
+
+/* Size of one A/D value */
+#define SIZEADIN ((sizeof(int32_t)))
+
+/*
+ * Size of the async input-buffer IN BYTES, the DIO state is transmitted
+ * as the first byte.
+ */
+#define SIZEINBUF (((NUMCHANNELS+1)*SIZEADIN))
+
+/* 16 bytes. */
+#define SIZEINSNBUF 16
+
+/* Number of DA channels */
+#define NUMOUTCHANNELS 8
+
+/* size of one value for the D/A converter: channel and value */
+#define SIZEDAOUT ((sizeof(uint8_t)+sizeof(int16_t)))
+
+/*
+ * Size of the output-buffer in bytes
+ * Actually only the first 4 triplets are used but for the
+ * high speed mode we need to pad it to 8 (microframes).
+ */
+#define SIZEOUTBUF ((8*SIZEDAOUT))
+
+/*
+ * Size of the buffer for the dux commands: just now max size is determined
+ * by the analogue out + command byte + panic bytes...
+ */
+#define SIZEOFDUXBUFFER ((8*SIZEDAOUT+2))
+
+/* Number of in-URBs which receive the data: min=2 */
+#define NUMOFINBUFFERSFULL 5
+
+/* Number of out-URBs which send the data: min=2 */
+#define NUMOFOUTBUFFERSFULL 5
+
+/* Number of in-URBs which receive the data: min=5 */
+/* must have more buffers due to buggy USB ctr */
+#define NUMOFINBUFFERSHIGH 10
+
+/* Number of out-URBs which send the data: min=5 */
+/* must have more buffers due to buggy USB ctr */
+#define NUMOFOUTBUFFERSHIGH 10
+
+/* Total number of usbdux devices */
+#define NUMUSBDUX 16
+
+/* Analogue in subdevice */
+#define SUBDEV_AD 0
+
+/* Analogue out subdevice */
+#define SUBDEV_DA 1
+
+/* Digital I/O */
+#define SUBDEV_DIO 2
+
+/* timer aka pwm output */
+#define SUBDEV_PWM 3
+
+/* number of retries to get the right dux command */
+#define RETRIES 10
+
+
+/**************************************************/
+/* comedi constants */
+static const comedi_lrange range_usbdux_ai_range = { 1, {
+ BIP_RANGE
+ (2.65)
+ }
+};
+
+static const comedi_lrange range_usbdux_ao_range = { 1, {
+ UNI_RANGE
+ (2.5),
+ }
+};
+
+/*
+ * private structure of one subdevice
+ */
+
+/*
+ * This is the structure which holds all the data of
+ * this driver one sub device just now: A/D
+ */
+struct usbduxsub {
+ /* attached? */
+ int attached;
+ /* is it associated with a subdevice? */
+ int probed;
+ /* pointer to the usb-device */
+ struct usb_device *usbdev;
+ /* actual number of in-buffers */
+ int numOfInBuffers;
+ /* actual number of out-buffers */
+ int numOfOutBuffers;
+ /* ISO-transfer handling: buffers */
+ struct urb **urbIn;
+ struct urb **urbOut;
+ /* pwm-transfer handling */
+ struct urb *urbPwm;
+ /* PWM period */
+ unsigned int pwmPeriod;
+ /* PWM internal delay for the GPIF in the FX2 */
+ uint8_t pwmDelay;
+ /* size of the PWM buffer which holds the bit pattern */
+ int sizePwmBuf;
+ /* input buffer for the ISO-transfer */
+ int32_t *inBuffer;
+ /* input buffer for single insn */
+ int8_t *insnBuffer;
+ /* output buffer for single DA outputs */
+ int16_t *outBuffer;
+ /* interface number */
+ int ifnum;
+ /* interface structure in 2.6 */
+ struct usb_interface *interface;
+ /* comedi device for the interrupt context */
+ comedi_device *comedidev;
+ /* is it USB_SPEED_HIGH or not? */
+ short int high_speed;
+ /* asynchronous command is running */
+ short int ai_cmd_running;
+ short int ao_cmd_running;
+ /* pwm is running */
+ short int pwm_cmd_running;
+ /* continous aquisition */
+ short int ai_continous;
+ short int ao_continous;
+ /* number of samples to acquire */
+ int ai_sample_count;
+ int ao_sample_count;
+ /* time between samples in units of the timer */
+ unsigned int ai_timer;
+ unsigned int ao_timer;
+ /* counter between aquisitions */
+ unsigned int ai_counter;
+ unsigned int ao_counter;
+ /* interval in frames/uframes */
+ unsigned int ai_interval;
+ /* D/A commands */
+ uint8_t *dac_commands;
+ /* commands */
+ uint8_t *dux_commands;
+ struct mutex sem;
+};
+
+/*
+ * The pointer to the private usb-data of the driver is also the private data
+ * for the comedi-device. This has to be global as the usb subsystem needs
+ * global variables. The other reason is that this structure must be there
+ * _before_ any comedi command is issued. The usb subsystem must be initialised
+ * before comedi can access it.
+ */
+static struct usbduxsub usbduxsub[NUMUSBDUX];
+
+static DEFINE_MUTEX(start_stop_sem);
+
+/*
+ * Stops the data acquision
+ * It should be safe to call this function from any context
+ */
+static int usbduxsub_unlink_InURBs(struct usbduxsub *usbduxsub_tmp)
+{
+ int i = 0;
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbIn) {
+ for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
+ if (usbduxsub_tmp->urbIn[i]) {
+ /* We wait here until all transfers have been
+ * cancelled. */
+ usb_kill_urb(usbduxsub_tmp->urbIn[i]);
+ }
+ dev_dbg(&usbduxsub_tmp->interface->dev,
+ "comedi: usbdux: unlinked InURB %d, err=%d\n",
+ i, err);
+ }
+ }
+ return err;
+}
+
+/*
+ * This will stop a running acquisition operation
+ * Is called from within this driver from both the
+ * interrupt context and from comedi
+ */
+static int usbdux_ai_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub) {
+ pr_err("comedi?: usbdux_ai_stop: this_usbduxsub=NULL!\n");
+ return -EFAULT;
+ }
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_stop\n");
+
+ if (do_unlink) {
+ /* stop aquistion */
+ ret = usbduxsub_unlink_InURBs(this_usbduxsub);
+ }
+
+ this_usbduxsub->ai_cmd_running = 0;
+
+ return ret;
+}
+
+/*
+ * This will cancel a running acquisition operation.
+ * This is called by comedi but never from inside the driver.
+ */
+static int usbdux_ai_cancel(comedi_device *dev,
+ comedi_subdevice *s)
+{
+ struct usbduxsub *this_usbduxsub;
+ int res = 0;
+
+ /* force unlink of all urbs */
+ this_usbduxsub = dev->private;
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_cancel\n");
+
+ /* prevent other CPUs from submitting new commands just now */
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ /* unlink only if the urb really has been submitted */
+ res = usbdux_ai_stop(this_usbduxsub, this_usbduxsub->ai_cmd_running);
+ mutex_unlock(&this_usbduxsub->sem);
+ return res;
+}
+
+/* analogue IN - interrupt service routine */
+static void usbduxsub_ai_IsocIrq(struct urb *urb)
+{
+ int i, err, n;
+ struct usbduxsub *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+ int32_t v;
+ unsigned int dio_state;
+
+ /* the context variable points to the comedi device */
+ this_comedidev = urb->context;
+ /* the private structure of the subdevice is struct usbduxsub */
+ this_usbduxsub = this_comedidev->private;
+ /* subdevice which is the AD converter */
+ s = this_comedidev->subdevices + SUBDEV_AD;
+
+ /* first we test if something unusual has just happened */
+ switch (urb->status) {
+ case 0:
+ /* copy the result in the transfer buffer */
+ memcpy(this_usbduxsub->inBuffer,
+ urb->transfer_buffer, SIZEINBUF);
+ break;
+ case -EILSEQ:
+ /* error in the ISOchronous data */
+ /* we don't copy the data into the transfer buffer */
+ /* and recycle the last data byte */
+ dev_dbg(&urb->dev->dev,
+ "comedi%d: usbdux: CRC error in ISO IN stream.\n",
+ this_usbduxsub->comedidev->minor);
+ break;
+
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ /* happens after an unlink command */
+ if (this_usbduxsub->ai_cmd_running) {
+ /* we are still running a command */
+ /* tell this comedi */
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* stop the transfer w/o unlink */
+ usbdux_ai_stop(this_usbduxsub, 0);
+ }
+ return;
+
+ default:
+ /* a real error on the bus */
+ /* pass error to comedi if we are really running a command */
+ if (this_usbduxsub->ai_cmd_running) {
+ dev_err(&urb->dev->dev,
+ "Non-zero urb status received in ai intr "
+ "context: %d\n", urb->status);
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* don't do an unlink here */
+ usbdux_ai_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ /*
+ * at this point we are reasonably sure that nothing dodgy has happened
+ * are we running a command?
+ */
+ if (unlikely((!(this_usbduxsub->ai_cmd_running)))) {
+ /*
+ * not running a command, do not continue execution if no
+ * asynchronous command is running in particular not resubmit
+ */
+ return;
+ }
+
+ urb->dev = this_usbduxsub->usbdev;
+
+ /* resubmit the urb */
+ err = usb_submit_urb(urb, GFP_ATOMIC);
+ if (unlikely(err < 0)) {
+ dev_err(&urb->dev->dev,
+ "comedi_: urb resubmit failed in int-context!"
+ "err=%d\n",
+ err);
+ if (err == -EL2NSYNC)
+ dev_err(&urb->dev->dev,
+ "buggy USB host controller or bug in IRQ "
+ "handler!\n");
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* don't do an unlink here */
+ usbdux_ai_stop(this_usbduxsub, 0);
+ return;
+ }
+
+ /* get the state of the dio pins to allow external trigger */
+ dio_state = be32_to_cpu(this_usbduxsub->inBuffer[0]);
+
+ this_usbduxsub->ai_counter--;
+ if (likely(this_usbduxsub->ai_counter > 0))
+ return;
+
+ /* timer zero, transfer measurements to comedi */
+ this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;
+
+ /* test, if we transmit only a fixed number of samples */
+ if (!(this_usbduxsub->ai_continous)) {
+ /* not continous, fixed number of samples */
+ this_usbduxsub->ai_sample_count--;
+ /* all samples received? */
+ if (this_usbduxsub->ai_sample_count < 0) {
+ /* prevent a resubmit next time */
+ usbdux_ai_stop(this_usbduxsub, 0);
+ /* say comedi that the acquistion is over */
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ return;
+ }
+ }
+ /* get the data from the USB bus and hand it over to comedi */
+ n = s->async->cmd.chanlist_len;
+ for (i = 0; i < n; i++) {
+ /* transfer data, note first byte is the DIO state */
+ v = be32_to_cpu(this_usbduxsub->inBuffer[i+1]);
+ /* strip status byte */
+ v = v & 0x00ffffff;
+ /* convert to unsigned */
+ v = v ^ 0x00800000;
+ /* write the byte to the buffer */
+ err = cfc_write_array_to_buffer(s, &v, sizeof(uint32_t));
+ if (unlikely(err == 0)) {
+ /* buffer overflow */
+ usbdux_ai_stop(this_usbduxsub, 0);
+ return;
+ }
+ }
+ /* tell comedi that data is there */
+ s->async->events |= COMEDI_CB_BLOCK | COMEDI_CB_EOS;
+ comedi_event(this_usbduxsub->comedidev, s);
+}
+
+static int usbduxsub_unlink_OutURBs(struct usbduxsub *usbduxsub_tmp)
+{
+ int i = 0;
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbOut) {
+ for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
+ if (usbduxsub_tmp->urbOut[i])
+ usb_kill_urb(usbduxsub_tmp->urbOut[i]);
+
+ dev_dbg(&usbduxsub_tmp->interface->dev,
+ "comedi: usbdux: unlinked OutURB %d: res=%d\n",
+ i, err);
+ }
+ }
+ return err;
+}
+
+/* This will cancel a running acquisition operation
+ * in any context.
+ */
+static int usbdux_ao_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ao_cancel\n");
+
+ if (do_unlink)
+ ret = usbduxsub_unlink_OutURBs(this_usbduxsub);
+
+ this_usbduxsub->ao_cmd_running = 0;
+
+ return ret;
+}
+
+/* force unlink, is called by comedi */
+static int usbdux_ao_cancel(comedi_device *dev,
+ comedi_subdevice *s)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int res = 0;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ /* prevent other CPUs from submitting a command just now */
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ /* unlink only if it is really running */
+ res = usbdux_ao_stop(this_usbduxsub, this_usbduxsub->ao_cmd_running);
+ mutex_unlock(&this_usbduxsub->sem);
+ return res;
+}
+
+static void usbduxsub_ao_IsocIrq(struct urb *urb)
+{
+ int i, ret;
+ uint8_t *datap;
+ struct usbduxsub *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+
+ /* the context variable points to the subdevice */
+ this_comedidev = urb->context;
+ /* the private structure of the subdevice is struct usbduxsub */
+ this_usbduxsub = this_comedidev->private;
+
+ s = this_comedidev->subdevices + SUBDEV_DA;
+
+ switch (urb->status) {
+ case 0:
+ /* success */
+ break;
+
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ /* after an unlink command, unplug, ... etc */
+ /* no unlink needed here. Already shutting down. */
+ if (this_usbduxsub->ao_cmd_running) {
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ return;
+
+ default:
+ /* a real error */
+ if (this_usbduxsub->ao_cmd_running) {
+ dev_err(&urb->dev->dev,
+ "comedi_: Non-zero urb status received in ao "
+ "intr context: %d\n", urb->status);
+ s->async->events |= COMEDI_CB_ERROR;
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* we do an unlink if we are in the high speed mode */
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ /* are we actually running? */
+ if (!(this_usbduxsub->ao_cmd_running))
+ return;
+
+ /* normal operation: executing a command in this subdevice */
+ this_usbduxsub->ao_counter--;
+ if ((int)this_usbduxsub->ao_counter <= 0) {
+ /* timer zero */
+ this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
+
+ /* handle non continous aquisition */
+ if (!(this_usbduxsub->ao_continous)) {
+ /* fixed number of samples */
+ this_usbduxsub->ao_sample_count--;
+ if (this_usbduxsub->ao_sample_count < 0) {
+ /* all samples transmitted */
+ usbdux_ao_stop(this_usbduxsub, 0);
+ s->async->events |= COMEDI_CB_EOA;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* no resubmit of the urb */
+ return;
+ }
+ }
+ /* transmit data to the USB bus */
+ ((uint8_t *) (urb->transfer_buffer))[0] =
+ s->async->cmd.chanlist_len;
+ for (i = 0; i < s->async->cmd.chanlist_len; i++) {
+ short temp;
+ if (i >= NUMOUTCHANNELS)
+ break;
+
+ /* pointer to the DA */
+ datap =
+ (&(((uint8_t *) urb->transfer_buffer)[i * 2 + 1]));
+ /* get the data from comedi */
+ ret = comedi_buf_get(s->async, &temp);
+ datap[0] = temp;
+ datap[1] = this_usbduxsub->dac_commands[i];
+ /* printk("data[0]=%x, data[1]=%x, data[2]=%x\n", */
+ /* datap[0],datap[1],datap[2]); */
+ if (ret < 0) {
+ dev_err(&urb->dev->dev,
+ "comedi: buffer underflow\n");
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_OVERFLOW;
+ }
+ /* transmit data to comedi */
+ s->async->events |= COMEDI_CB_BLOCK;
+ comedi_event(this_usbduxsub->comedidev, s);
+ }
+ }
+ urb->transfer_buffer_length = SIZEOUTBUF;
+ urb->dev = this_usbduxsub->usbdev;
+ urb->status = 0;
+ if (this_usbduxsub->ao_cmd_running) {
+ if (this_usbduxsub->high_speed) {
+ /* uframes */
+ urb->interval = 8;
+ } else {
+ /* frames */
+ urb->interval = 1;
+ }
+ urb->number_of_packets = 1;
+ urb->iso_frame_desc[0].offset = 0;
+ urb->iso_frame_desc[0].length = SIZEOUTBUF;
+ urb->iso_frame_desc[0].status = 0;
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret < 0) {
+ dev_err(&urb->dev->dev,
+ "comedi_: ao urb resubm failed in int-cont. "
+ "ret=%d", ret);
+ if (ret == EL2NSYNC)
+ dev_err(&urb->dev->dev,
+ "buggy USB host controller or bug in "
+ "IRQ handling!\n");
+
+ s->async->events |= COMEDI_CB_EOA;
+ s->async->events |= COMEDI_CB_ERROR;
+ comedi_event(this_usbduxsub->comedidev, s);
+ /* don't do an unlink here */
+ usbdux_ao_stop(this_usbduxsub, 0);
+ }
+ }
+}
+
+static int usbduxsub_start(struct usbduxsub *usbduxsub)
+{
+ int errcode = 0;
+ uint8_t local_transfer_buffer[16];
+
+ /* 7f92 to zero */
+ local_transfer_buffer[0] = 0;
+ errcode = usb_control_msg(usbduxsub->usbdev,
+ /* create a pipe for a control transfer */
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ /* bRequest, "Firmware" */
+ USBDUXSUB_FIRMWARE,
+ /* bmRequestType */
+ VENDOR_DIR_OUT,
+ /* Value */
+ USBDUXSUB_CPUCS,
+ /* Index */
+ 0x0000,
+ /* address of the transfer buffer */
+ local_transfer_buffer,
+ /* Length */
+ 1,
+ /* Timeout */
+ BULK_TIMEOUT);
+ if (errcode < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: control msg failed (start)\n");
+ return errcode;
+ }
+ return 0;
+}
+
+static int usbduxsub_stop(struct usbduxsub *usbduxsub)
+{
+ int errcode = 0;
+
+ uint8_t local_transfer_buffer[16];
+
+ /* 7f92 to one */
+ local_transfer_buffer[0] = 1;
+ errcode = usb_control_msg(usbduxsub->usbdev,
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ /* bRequest, "Firmware" */
+ USBDUXSUB_FIRMWARE,
+ /* bmRequestType */
+ VENDOR_DIR_OUT,
+ /* Value */
+ USBDUXSUB_CPUCS,
+ /* Index */
+ 0x0000, local_transfer_buffer,
+ /* Length */
+ 1,
+ /* Timeout */
+ BULK_TIMEOUT);
+ if (errcode < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: control msg failed (stop)\n");
+ return errcode;
+ }
+ return 0;
+}
+
+static int usbduxsub_upload(struct usbduxsub *usbduxsub,
+ uint8_t *local_transfer_buffer,
+ unsigned int startAddr, unsigned int len)
+{
+ int errcode;
+
+ errcode = usb_control_msg(usbduxsub->usbdev,
+ usb_sndctrlpipe(usbduxsub->usbdev, 0),
+ /* brequest, firmware */
+ USBDUXSUB_FIRMWARE,
+ /* bmRequestType */
+ VENDOR_DIR_OUT,
+ /* value */
+ startAddr,
+ /* index */
+ 0x0000,
+ /* our local safe buffer */
+ local_transfer_buffer,
+ /* length */
+ len,
+ /* timeout */
+ BULK_TIMEOUT);
+ dev_dbg(&usbduxsub->interface->dev, "comedi_: result=%d\n", errcode);
+ if (errcode < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: upload failed\n");
+ return errcode;
+ }
+ return 0;
+}
+
+/* the FX2LP has twice as much as the standard FX2 */
+#define FIRMWARE_MAX_LEN 0x4000
+
+static int firmwareUpload(struct usbduxsub *usbduxsub,
+ const u8 *firmwareBinary, int sizeFirmware)
+{
+ int ret;
+ uint8_t *fwBuf;
+
+ if (!firmwareBinary)
+ return 0;
+
+ if (sizeFirmware > FIRMWARE_MAX_LEN) {
+ dev_err(&usbduxsub->interface->dev,
+ "usbduxsigma firmware binary it too large for FX2.\n");
+ return -ENOMEM;
+ }
+
+ /* we generate a local buffer for the firmware */
+ fwBuf = kmemdup(firmwareBinary, sizeFirmware, GFP_KERNEL);
+ if (!fwBuf) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: mem alloc for firmware failed\n");
+ return -ENOMEM;
+ }
+
+ ret = usbduxsub_stop(usbduxsub);
+ if (ret < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: can not stop firmware\n");
+ kfree(fwBuf);
+ return ret;
+ }
+
+ ret = usbduxsub_upload(usbduxsub, fwBuf, 0, sizeFirmware);
+ if (ret < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: firmware upload failed\n");
+ kfree(fwBuf);
+ return ret;
+ }
+ ret = usbduxsub_start(usbduxsub);
+ if (ret < 0) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: can not start firmware\n");
+ kfree(fwBuf);
+ return ret;
+ }
+ kfree(fwBuf);
+ return 0;
+}
+
+static int usbduxsub_submit_InURBs(struct usbduxsub *usbduxsub)
+{
+ int i, errFlag;
+
+ if (!usbduxsub)
+ return -EFAULT;
+
+ /* Submit all URBs and start the transfer on the bus */
+ for (i = 0; i < usbduxsub->numOfInBuffers; i++) {
+ /* in case of a resubmission after an unlink... */
+ usbduxsub->urbIn[i]->interval = usbduxsub->ai_interval;
+ usbduxsub->urbIn[i]->context = usbduxsub->comedidev;
+ usbduxsub->urbIn[i]->dev = usbduxsub->usbdev;
+ usbduxsub->urbIn[i]->status = 0;
+ usbduxsub->urbIn[i]->transfer_flags = URB_ISO_ASAP;
+ dev_dbg(&usbduxsub->interface->dev,
+ "comedi%d: submitting in-urb[%d]: %p,%p intv=%d\n",
+ usbduxsub->comedidev->minor, i,
+ (usbduxsub->urbIn[i]->context),
+ (usbduxsub->urbIn[i]->dev),
+ (usbduxsub->urbIn[i]->interval));
+ errFlag = usb_submit_urb(usbduxsub->urbIn[i], GFP_ATOMIC);
+ if (errFlag) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: ai: usb_submit_urb(%d) error %d\n",
+ i, errFlag);
+ return errFlag;
+ }
+ }
+ return 0;
+}
+
+static int usbduxsub_submit_OutURBs(struct usbduxsub *usbduxsub)
+{
+ int i, errFlag;
+
+ if (!usbduxsub)
+ return -EFAULT;
+
+ for (i = 0; i < usbduxsub->numOfOutBuffers; i++) {
+ dev_dbg(&usbduxsub->interface->dev,
+ "comedi_: submitting out-urb[%d]\n", i);
+ /* in case of a resubmission after an unlink... */
+ usbduxsub->urbOut[i]->context = usbduxsub->comedidev;
+ usbduxsub->urbOut[i]->dev = usbduxsub->usbdev;
+ usbduxsub->urbOut[i]->status = 0;
+ usbduxsub->urbOut[i]->transfer_flags = URB_ISO_ASAP;
+ errFlag = usb_submit_urb(usbduxsub->urbOut[i], GFP_ATOMIC);
+ if (errFlag) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: ao: usb_submit_urb(%d) error %d\n",
+ i, errFlag);
+ return errFlag;
+ }
+ }
+ return 0;
+}
+
+static int chanToInterval(int nChannels)
+{
+ if (nChannels <= 2)
+ /* 4kHz */
+ return 2;
+ if (nChannels <= 8)
+ /* 2kHz */
+ return 4;
+ /* 1kHz */
+ return 8;
+}
+
+static int usbdux_ai_cmdtest(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_cmd *cmd)
+{
+ int err = 0, tmp, i;
+ unsigned int tmpTimer;
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!(this_usbduxsub->probed))
+ return -ENODEV;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ai_cmdtest\n", dev->minor);
+
+ /* make sure triggers are valid */
+ /* Only immediate triggers are allowed */
+ tmp = cmd->start_src;
+ cmd->start_src &= TRIG_NOW | TRIG_INT;
+ if (!cmd->start_src || tmp != cmd->start_src)
+ err++;
+
+ /* trigger should happen timed */
+ tmp = cmd->scan_begin_src;
+ /* start a new _scan_ with a timer */
+ cmd->scan_begin_src &= TRIG_TIMER;
+ if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+ err++;
+
+ /* scanning is continous */
+ tmp = cmd->convert_src;
+ cmd->convert_src &= TRIG_NOW;
+ if (!cmd->convert_src || tmp != cmd->convert_src)
+ err++;
+
+ /* issue a trigger when scan is finished and start a new scan */
+ tmp = cmd->scan_end_src;
+ cmd->scan_end_src &= TRIG_COUNT;
+ if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+ err++;
+
+ /* trigger at the end of count events or not, stop condition or not */
+ tmp = cmd->stop_src;
+ cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+ if (!cmd->stop_src || tmp != cmd->stop_src)
+ err++;
+
+ if (err)
+ return 1;
+
+ /*
+ * step 2: make sure trigger sources are unique and mutually compatible
+ * note that mutual compatibility is not an issue here
+ */
+ if (cmd->scan_begin_src != TRIG_FOLLOW &&
+ cmd->scan_begin_src != TRIG_EXT &&
+ cmd->scan_begin_src != TRIG_TIMER)
+ err++;
+ if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+ err++;
+
+ if (err)
+ return 2;
+
+ /* step 3: make sure arguments are trivially compatible */
+ if (cmd->start_arg != 0) {
+ cmd->start_arg = 0;
+ err++;
+ }
+
+ if (cmd->scan_begin_src == TRIG_FOLLOW) {
+ /* internal trigger */
+ if (cmd->scan_begin_arg != 0) {
+ cmd->scan_begin_arg = 0;
+ err++;
+ }
+ }
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ if (this_usbduxsub->high_speed) {
+ /*
+ * In high speed mode microframes are possible.
+ * However, during one microframe we can roughly
+ * sample two channels. Thus, the more channels
+ * are in the channel list the more time we need.
+ */
+ i = chanToInterval(cmd->chanlist_len);
+ if (cmd->scan_begin_arg < (1000000 / 8 * i)) {
+ cmd->scan_begin_arg = 1000000 / 8 * i;
+ err++;
+ }
+ /* now calc the real sampling rate with all the
+ * rounding errors */
+ tmpTimer =
+ ((unsigned int)(cmd->scan_begin_arg / 125000)) *
+ 125000;
+ if (cmd->scan_begin_arg != tmpTimer) {
+ cmd->scan_begin_arg = tmpTimer;
+ err++;
+ }
+ } else {
+ /* full speed */
+ /* 1kHz scans every USB frame */
+ if (cmd->scan_begin_arg < 1000000) {
+ cmd->scan_begin_arg = 1000000;
+ err++;
+ }
+ /*
+ * calc the real sampling rate with the rounding errors
+ */
+ tmpTimer = ((unsigned int)(cmd->scan_begin_arg /
+ 1000000)) * 1000000;
+ if (cmd->scan_begin_arg != tmpTimer) {
+ cmd->scan_begin_arg = tmpTimer;
+ err++;
+ }
+ }
+ }
+ /* the same argument */
+ if (cmd->scan_end_arg != cmd->chanlist_len) {
+ cmd->scan_end_arg = cmd->chanlist_len;
+ err++;
+ }
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* any count is allowed */
+ } else {
+ /* TRIG_NONE */
+ if (cmd->stop_arg != 0) {
+ cmd->stop_arg = 0;
+ err++;
+ }
+ }
+
+ if (err)
+ return 3;
+
+ return 0;
+}
+
+/*
+ * creates the ADC command for the MAX1271
+ * range is the range value from comedi
+ */
+static void create_adc_command(unsigned int chan,
+ uint8_t *muxsg0,
+ uint8_t *muxsg1)
+{
+ if (chan < 8)
+ (*muxsg0) = (*muxsg0) | (1 << chan);
+ else if (chan < 16)
+ (*muxsg1) = (*muxsg1) | (1 << (chan-8));
+}
+
+
+/* bulk transfers to usbdux */
+
+#define SENDADCOMMANDS 0
+#define SENDDACOMMANDS 1
+#define SENDDIOCONFIGCOMMAND 2
+#define SENDDIOBITSCOMMAND 3
+#define SENDSINGLEAD 4
+#define SENDPWMON 7
+#define SENDPWMOFF 8
+
+static int send_dux_commands(struct usbduxsub *this_usbduxsub, int cmd_type)
+{
+ int result, nsent;
+
+ this_usbduxsub->dux_commands[0] = cmd_type;
+#ifdef NOISY_DUX_DEBUGBUG
+ printk(KERN_DEBUG "comedi%d: usbdux: dux_commands: ",
+ this_usbduxsub->comedidev->minor);
+ for (result = 0; result < SIZEOFDUXBUFFER; result++)
+ printk(" %02x", this_usbduxsub->dux_commands[result]);
+ printk("\n");
+#endif
+ result = usb_bulk_msg(this_usbduxsub->usbdev,
+ usb_sndbulkpipe(this_usbduxsub->usbdev,
+ COMMAND_OUT_EP),
+ this_usbduxsub->dux_commands, SIZEOFDUXBUFFER,
+ &nsent, BULK_TIMEOUT);
+ if (result < 0)
+ dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
+ "could not transmit dux_command to the usb-device, "
+ "err=%d\n", this_usbduxsub->comedidev->minor, result);
+
+ return result;
+}
+
+static int receive_dux_commands(struct usbduxsub *this_usbduxsub, int command)
+{
+ int result = (-EFAULT);
+ int nrec;
+ int i;
+
+ for (i = 0; i < RETRIES; i++) {
+ result = usb_bulk_msg(this_usbduxsub->usbdev,
+ usb_rcvbulkpipe(this_usbduxsub->usbdev,
+ COMMAND_IN_EP),
+ this_usbduxsub->insnBuffer, SIZEINSNBUF,
+ &nrec, BULK_TIMEOUT);
+ if (result < 0) {
+ dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
+ "insn: USB error %d "
+ "while receiving DUX command"
+ "\n", this_usbduxsub->comedidev->minor,
+ result);
+ return result;
+ }
+ if (this_usbduxsub->insnBuffer[0] == command)
+ return result;
+ }
+ /* this is only reached if the data has been requested a couple of
+ * times */
+ dev_err(&this_usbduxsub->interface->dev, "comedi%d: insn: "
+ "wrong data returned from firmware: want %d, got %d.\n",
+ this_usbduxsub->comedidev->minor, command,
+ this_usbduxsub->insnBuffer[0]);
+ return -EFAULT;
+}
+
+static int usbdux_ai_inttrig(comedi_device *dev,
+ comedi_subdevice *s, unsigned int trignum)
+{
+ int ret;
+ struct usbduxsub *this_usbduxsub = dev->private;
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ai_inttrig\n", dev->minor);
+
+ if (trignum != 0) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ai_inttrig: invalid trignum\n",
+ dev->minor);
+ mutex_unlock(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ if (!(this_usbduxsub->ai_cmd_running)) {
+ this_usbduxsub->ai_cmd_running = 1;
+ ret = usbduxsub_submit_InURBs(this_usbduxsub);
+ if (ret < 0) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ai_inttrig: "
+ "urbSubmit: err=%d\n", dev->minor, ret);
+ this_usbduxsub->ai_cmd_running = 0;
+ mutex_unlock(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: ai_inttrig but acqu is already running\n",
+ dev->minor);
+ }
+ mutex_unlock(&this_usbduxsub->sem);
+ return 1;
+}
+
+static int usbdux_ai_cmd(comedi_device *dev, comedi_subdevice *s)
+{
+ comedi_cmd *cmd = &s->async->cmd;
+ unsigned int chan;
+ int i, ret;
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int result;
+ uint8_t muxsg0 = 0;
+ uint8_t muxsg1 = 0;
+ uint8_t sysred = 0;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ai_cmd\n", dev->minor);
+
+ /* block other CPUs from starting an ai_cmd */
+ mutex_lock(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ai_cmd_running) {
+ dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
+ "ai_cmd not possible. Another ai_cmd is running.\n",
+ dev->minor);
+ mutex_unlock(&this_usbduxsub->sem);
+ return -EBUSY;
+ }
+ /* set current channel of the running aquisition to zero */
+ s->async->cur_chan = 0;
+
+ /* first the number of channels per time step */
+ this_usbduxsub->dux_commands[1] = cmd->chanlist_len;
+
+ /* CONFIG0 */
+ this_usbduxsub->dux_commands[2] = 0x12;
+
+ /* CONFIG1: 23kHz sampling rate, delay = 0us, */
+ this_usbduxsub->dux_commands[3] = 0x03;
+
+ /* CONFIG3: differential channels off */
+ this_usbduxsub->dux_commands[4] = 0x00;
+
+ for (i = 0; i < cmd->chanlist_len; i++) {
+ chan = CR_CHAN(cmd->chanlist[i]);
+ create_adc_command(chan, &muxsg0, &muxsg1);
+ if (i >= NUMCHANNELS) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: channel list too long\n",
+ dev->minor);
+ break;
+ }
+ }
+ this_usbduxsub->dux_commands[5] = muxsg0;
+ this_usbduxsub->dux_commands[6] = muxsg1;
+ this_usbduxsub->dux_commands[7] = sysred;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi %d: sending commands to the usb device: size=%u\n",
+ dev->minor, NUMCHANNELS);
+
+ result = send_dux_commands(this_usbduxsub, SENDADCOMMANDS);
+ if (result < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return result;
+ }
+
+ if (this_usbduxsub->high_speed) {
+ /*
+ * every 2 channels get a time window of 125us. Thus, if we
+ * sample all 16 channels we need 1ms. If we sample only one
+ * channel we need only 125us
+ */
+ this_usbduxsub->ai_interval =
+ chanToInterval(cmd->chanlist_len);
+ this_usbduxsub->ai_timer = cmd->scan_begin_arg / (125000 *
+ (this_usbduxsub->
+ ai_interval));
+ } else {
+ /* interval always 1ms */
+ this_usbduxsub->ai_interval = 1;
+ this_usbduxsub->ai_timer = cmd->scan_begin_arg / 1000000;
+ }
+ if (this_usbduxsub->ai_timer < 1) {
+ dev_err(&this_usbduxsub->interface->dev, "comedi%d: ai_cmd: "
+ "timer=%d, scan_begin_arg=%d. "
+ "Not properly tested by cmdtest?\n", dev->minor,
+ this_usbduxsub->ai_timer, cmd->scan_begin_arg);
+ mutex_unlock(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* data arrives as one packet */
+ this_usbduxsub->ai_sample_count = cmd->stop_arg;
+ this_usbduxsub->ai_continous = 0;
+ } else {
+ /* continous aquisition */
+ this_usbduxsub->ai_continous = 1;
+ this_usbduxsub->ai_sample_count = 0;
+ }
+
+ if (cmd->start_src == TRIG_NOW) {
+ /* enable this acquisition operation */
+ this_usbduxsub->ai_cmd_running = 1;
+ ret = usbduxsub_submit_InURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->ai_cmd_running = 0;
+ /* fixme: unlink here?? */
+ mutex_unlock(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ /* TRIG_INT */
+ /* don't enable the acquision operation */
+ /* wait for an internal signal */
+ s->async->inttrig = usbdux_ai_inttrig;
+ }
+ mutex_unlock(&this_usbduxsub->sem);
+ return 0;
+}
+
+/* Mode 0 is used to get a single conversion on demand */
+static int usbdux_ai_insn_read(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ int i;
+ int32_t one = 0;
+ int chan;
+ int err;
+ struct usbduxsub *this_usbduxsub = dev->private;
+ uint8_t muxsg0 = 0;
+ uint8_t muxsg1 = 0;
+ uint8_t sysred = 0;
+
+ if (!this_usbduxsub)
+ return 0;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: ai_insn_read, insn->n=%d, insn->subdev=%d\n",
+ dev->minor, insn->n, insn->subdev);
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ai_cmd_running) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: ai_insn_read not possible. "
+ "Async Command is running.\n", dev->minor);
+ mutex_unlock(&this_usbduxsub->sem);
+ return 0;
+ }
+
+ /* sample one channel */
+ /* CONFIG0: chopper on */
+ this_usbduxsub->dux_commands[1] = 0x16;
+
+ /* CONFIG1: 2kHz sampling rate */
+ this_usbduxsub->dux_commands[2] = 0x80;
+
+ /* CONFIG3: differential channels off */
+ this_usbduxsub->dux_commands[3] = 0x00;
+
+ chan = CR_CHAN(insn->chanspec);
+ create_adc_command(chan, &muxsg0, &muxsg1);
+
+ this_usbduxsub->dux_commands[4] = muxsg0;
+ this_usbduxsub->dux_commands[5] = muxsg1;
+ this_usbduxsub->dux_commands[6] = sysred;
+
+ /* adc commands */
+ err = send_dux_commands(this_usbduxsub, SENDSINGLEAD);
+ if (err < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return err;
+ }
+
+ for (i = 0; i < insn->n; i++) {
+ err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD);
+ if (err < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return 0;
+ }
+ /* 32 bits big endian from the A/D converter */
+ one = be32_to_cpu(*((int32_t *)
+ ((this_usbduxsub->insnBuffer)+1)));
+ /* mask out the staus byte */
+ one = one & 0x00ffffff;
+ /* turn it into an unsigned integer */
+ one = one ^ 0x00800000;
+ data[i] = one;
+ }
+ mutex_unlock(&this_usbduxsub->sem);
+ return i;
+}
+
+
+
+
+static int usbdux_getstatusinfo(comedi_device *dev, int chan)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ uint8_t sysred = 0;
+ uint32_t one;
+ int err;
+
+ if (!this_usbduxsub)
+ return 0;
+
+ if (this_usbduxsub->ai_cmd_running) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: status read not possible. "
+ "Async Command is running.\n", dev->minor);
+ return 0;
+ }
+
+ /* CONFIG0 */
+ this_usbduxsub->dux_commands[1] = 0x12;
+
+ /* CONFIG1: 2kHz sampling rate */
+ this_usbduxsub->dux_commands[2] = 0x80;
+
+ /* CONFIG3: differential channels off */
+ this_usbduxsub->dux_commands[3] = 0x00;
+
+ if (chan == 1) {
+ /* ADC offset */
+ sysred = sysred | 1;
+ } else if (chan == 2) {
+ /* VCC */
+ sysred = sysred | 4;
+ } else if (chan == 3) {
+ /* temperature */
+ sysred = sysred | 8;
+ } else if (chan == 4) {
+ /* gain */
+ sysred = sysred | 16;
+ } else if (chan == 5) {
+ /* ref */
+ sysred = sysred | 32;
+ }
+
+ this_usbduxsub->dux_commands[4] = 0;
+ this_usbduxsub->dux_commands[5] = 0;
+ this_usbduxsub->dux_commands[6] = sysred;
+
+ /* adc commands */
+ err = send_dux_commands(this_usbduxsub, SENDSINGLEAD);
+ if (err < 0)
+ return err;
+
+ err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD);
+ if (err < 0)
+ return err;
+
+ /* 32 bits big endian from the A/D converter */
+ one = be32_to_cpu(*((int32_t *)((this_usbduxsub->insnBuffer)+1)));
+ /* mask out the staus byte */
+ one = one & 0x00ffffff;
+ one = one ^ 0x00800000;
+
+ return (int)one;
+}
+
+
+
+
+
+
+/************************************/
+/* analog out */
+
+static int usbdux_ao_insn_read(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ int i;
+ int chan = CR_CHAN(insn->chanspec);
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ for (i = 0; i < insn->n; i++)
+ data[i] = this_usbduxsub->outBuffer[chan];
+
+ mutex_unlock(&this_usbduxsub->sem);
+ return i;
+}
+
+static int usbdux_ao_insn_write(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ int i, err;
+ int chan = CR_CHAN(insn->chanspec);
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: ao_insn_write\n", dev->minor);
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (this_usbduxsub->ao_cmd_running) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: ao_insn_write: "
+ "ERROR: asynchronous ao_cmd is running\n", dev->minor);
+ mutex_unlock(&this_usbduxsub->sem);
+ return 0;
+ }
+
+ for (i = 0; i < insn->n; i++) {
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: ao_insn_write: data[chan=%d,i=%d]=%d\n",
+ dev->minor, chan, i, data[i]);
+
+ /* number of channels: 1 */
+ this_usbduxsub->dux_commands[1] = 1;
+ /* channel number */
+ this_usbduxsub->dux_commands[2] = data[i];
+ this_usbduxsub->outBuffer[chan] = data[i];
+ this_usbduxsub->dux_commands[3] = chan;
+ err = send_dux_commands(this_usbduxsub, SENDDACOMMANDS);
+ if (err < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return err;
+ }
+ }
+ mutex_unlock(&this_usbduxsub->sem);
+
+ return i;
+}
+
+static int usbdux_ao_inttrig(comedi_device *dev,
+ comedi_subdevice *s, unsigned int trignum)
+{
+ int ret;
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ if (trignum != 0) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ao_inttrig: invalid trignum\n",
+ dev->minor);
+ return -EINVAL;
+ }
+ if (!(this_usbduxsub->ao_cmd_running)) {
+ this_usbduxsub->ao_cmd_running = 1;
+ ret = usbduxsub_submit_OutURBs(this_usbduxsub);
+ if (ret < 0) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ao_inttrig: submitURB: "
+ "err=%d\n", dev->minor, ret);
+ this_usbduxsub->ao_cmd_running = 0;
+ mutex_unlock(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: ao_inttrig but acqu is already running.\n",
+ dev->minor);
+ }
+ mutex_unlock(&this_usbduxsub->sem);
+ return 1;
+}
+
+static int usbdux_ao_cmdtest(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_cmd *cmd)
+{
+ int err = 0, tmp;
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ if (!(this_usbduxsub->probed))
+ return -ENODEV;
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux_ao_cmdtest\n", dev->minor);
+
+ /* make sure triggers are valid */
+ /* Only immediate triggers are allowed */
+ tmp = cmd->start_src;
+ cmd->start_src &= TRIG_NOW | TRIG_INT;
+ if (!cmd->start_src || tmp != cmd->start_src)
+ err++;
+
+ /* trigger should happen timed */
+ tmp = cmd->scan_begin_src;
+ /* just now we scan also in the high speed mode every frame */
+ /* this is due to ehci driver limitations */
+ if (0) { /* (this_usbduxsub->high_speed) */
+ /* start immidiately a new scan */
+ /* the sampling rate is set by the coversion rate */
+ cmd->scan_begin_src &= TRIG_FOLLOW;
+ } else {
+ /* start a new scan (output at once) with a timer */
+ cmd->scan_begin_src &= TRIG_TIMER;
+ }
+ if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+ err++;
+
+ /* scanning is continous */
+ tmp = cmd->convert_src;
+
+ /* all conversion events happen simultaneously */
+ cmd->convert_src &= TRIG_NOW;
+
+ if (!cmd->convert_src || tmp != cmd->convert_src)
+ err++;
+
+ /* issue a trigger when scan is finished and start a new scan */
+ tmp = cmd->scan_end_src;
+ cmd->scan_end_src &= TRIG_COUNT;
+ if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+ err++;
+
+ /* trigger at the end of count events or not, stop condition or not */
+ tmp = cmd->stop_src;
+ cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+ if (!cmd->stop_src || tmp != cmd->stop_src)
+ err++;
+
+ if (err)
+ return 1;
+
+ /*
+ * step 2: make sure trigger sources
+ * are unique and mutually compatible
+ * note that mutual compatibility is not an issue here
+ */
+ if (cmd->scan_begin_src != TRIG_FOLLOW &&
+ cmd->scan_begin_src != TRIG_EXT &&
+ cmd->scan_begin_src != TRIG_TIMER)
+ err++;
+ if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+ err++;
+
+ if (err)
+ return 2;
+
+ /* step 3: make sure arguments are trivially compatible */
+
+ if (cmd->start_arg != 0) {
+ cmd->start_arg = 0;
+ err++;
+ }
+
+ if (cmd->scan_begin_src == TRIG_FOLLOW) {
+ /* internal trigger */
+ if (cmd->scan_begin_arg != 0) {
+ cmd->scan_begin_arg = 0;
+ err++;
+ }
+ }
+
+ if (cmd->scan_begin_src == TRIG_TIMER) {
+ /* timer */
+ if (cmd->scan_begin_arg < 1000000) {
+ cmd->scan_begin_arg = 1000000;
+ err++;
+ }
+ }
+ /* not used now, is for later use */
+ if (cmd->convert_src == TRIG_TIMER) {
+ if (cmd->convert_arg < 125000) {
+ cmd->convert_arg = 125000;
+ err++;
+ }
+ }
+
+ /* the same argument */
+ if (cmd->scan_end_arg != cmd->chanlist_len) {
+ cmd->scan_end_arg = cmd->chanlist_len;
+ err++;
+ }
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* any count is allowed */
+ } else {
+ /* TRIG_NONE */
+ if (cmd->stop_arg != 0) {
+ cmd->stop_arg = 0;
+ err++;
+ }
+ }
+
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: err=%d, "
+ "scan_begin_src=%d, scan_begin_arg=%d, convert_src=%d, "
+ "convert_arg=%d\n", dev->minor, err, cmd->scan_begin_src,
+ cmd->scan_begin_arg, cmd->convert_src, cmd->convert_arg);
+
+ if (err)
+ return 3;
+
+ return 0;
+}
+
+static int usbdux_ao_cmd(comedi_device *dev, comedi_subdevice *s)
+{
+ comedi_cmd *cmd = &s->async->cmd;
+ unsigned int chan, gain;
+ int i, ret;
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ mutex_lock(&this_usbduxsub->sem);
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: %s\n", dev->minor, __func__);
+
+ /* set current channel of the running aquisition to zero */
+ s->async->cur_chan = 0;
+ for (i = 0; i < cmd->chanlist_len; ++i) {
+ chan = CR_CHAN(cmd->chanlist[i]);
+ gain = CR_RANGE(cmd->chanlist[i]);
+ if (i >= NUMOUTCHANNELS) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: %s: channel list too long\n",
+ dev->minor, __func__);
+ break;
+ }
+ this_usbduxsub->dac_commands[i] = chan;
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: dac command for ch %d is %x\n",
+ dev->minor, i, this_usbduxsub->dac_commands[i]);
+ }
+
+ /* we count in steps of 1ms (125us) */
+ /* 125us mode not used yet */
+ if (0) { /* (this_usbduxsub->high_speed) */
+ /* 125us */
+ /* timing of the conversion itself: every 125 us */
+ this_usbduxsub->ao_timer = cmd->convert_arg / 125000;
+ } else {
+ /* 1ms */
+ /* timing of the scan: we get all channels at once */
+ this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000;
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: scan_begin_src=%d, scan_begin_arg=%d, "
+ "convert_src=%d, convert_arg=%d\n", dev->minor,
+ cmd->scan_begin_src, cmd->scan_begin_arg,
+ cmd->convert_src, cmd->convert_arg);
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: ao_timer=%d (ms)\n",
+ dev->minor, this_usbduxsub->ao_timer);
+ if (this_usbduxsub->ao_timer < 1) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: usbdux: ao_timer=%d, "
+ "scan_begin_arg=%d. "
+ "Not properly tested by cmdtest?\n",
+ dev->minor, this_usbduxsub->ao_timer,
+ cmd->scan_begin_arg);
+ mutex_unlock(&this_usbduxsub->sem);
+ return -EINVAL;
+ }
+ }
+ this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;
+
+ if (cmd->stop_src == TRIG_COUNT) {
+ /* not continous */
+ /* counter */
+ /* high speed also scans everything at once */
+ if (0) { /* (this_usbduxsub->high_speed) */
+ this_usbduxsub->ao_sample_count =
+ (cmd->stop_arg) * (cmd->scan_end_arg);
+ } else {
+ /* there's no scan as the scan has been */
+ /* perf inside the FX2 */
+ /* data arrives as one packet */
+ this_usbduxsub->ao_sample_count = cmd->stop_arg;
+ }
+ this_usbduxsub->ao_continous = 0;
+ } else {
+ /* continous aquisition */
+ this_usbduxsub->ao_continous = 1;
+ this_usbduxsub->ao_sample_count = 0;
+ }
+
+ if (cmd->start_src == TRIG_NOW) {
+ /* enable this acquisition operation */
+ this_usbduxsub->ao_cmd_running = 1;
+ ret = usbduxsub_submit_OutURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->ao_cmd_running = 0;
+ /* fixme: unlink here?? */
+ mutex_unlock(&this_usbduxsub->sem);
+ return ret;
+ }
+ s->async->inttrig = NULL;
+ } else {
+ /* TRIG_INT */
+ /* submit the urbs later */
+ /* wait for an internal signal */
+ s->async->inttrig = usbdux_ao_inttrig;
+ }
+
+ mutex_unlock(&this_usbduxsub->sem);
+ return 0;
+}
+
+static int usbdux_dio_insn_config(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ int chan = CR_CHAN(insn->chanspec);
+
+ /* The input or output configuration of each digital line is
+ * configured by a special insn_config instruction. chanspec
+ * contains the channel to be changed, and data[0] contains the
+ * value COMEDI_INPUT or COMEDI_OUTPUT. */
+
+ switch (data[0]) {
+ case INSN_CONFIG_DIO_OUTPUT:
+ s->io_bits |= 1 << chan; /* 1 means Out */
+ break;
+ case INSN_CONFIG_DIO_INPUT:
+ s->io_bits &= ~(1 << chan);
+ break;
+ case INSN_CONFIG_DIO_QUERY:
+ data[1] =
+ (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT;
+ break;
+ default:
+ return -EINVAL;
+ break;
+ }
+ /* we don't tell the firmware here as it would take 8 frames */
+ /* to submit the information. We do it in the insn_bits. */
+ return insn->n;
+}
+
+static int usbdux_dio_insn_bits(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn,
+ unsigned int *data)
+{
+
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int err;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ if (insn->n != 2)
+ return -EINVAL;
+
+ mutex_lock(&this_usbduxsub->sem);
+
+ if (!(this_usbduxsub->probed)) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return -ENODEV;
+ }
+
+ /* The insn data is a mask in data[0] and the new data
+ * in data[1], each channel cooresponding to a bit. */
+ s->state &= ~data[0];
+ s->state |= data[0] & data[1];
+ /* The commands are 8 bits wide */
+ this_usbduxsub->dux_commands[1] = (s->io_bits) & 0x000000FF;
+ this_usbduxsub->dux_commands[4] = (s->state) & 0x000000FF;
+ this_usbduxsub->dux_commands[2] = ((s->io_bits) & 0x0000FF00) >> 8;
+ this_usbduxsub->dux_commands[5] = ((s->state) & 0x0000FF00) >> 8;
+ this_usbduxsub->dux_commands[3] = ((s->io_bits) & 0x00FF0000) >> 16;
+ this_usbduxsub->dux_commands[6] = ((s->state) & 0x00FF0000) >> 16;
+
+ /* This command also tells the firmware to return */
+ /* the digital input lines */
+ err = send_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND);
+ if (err < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return err;
+ }
+ err = receive_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND);
+ if (err < 0) {
+ mutex_unlock(&this_usbduxsub->sem);
+ return err;
+ }
+
+ data[1] = (((unsigned int)(this_usbduxsub->insnBuffer[1]))&0xff) |
+ ((((unsigned int)(this_usbduxsub->insnBuffer[2]))&0xff) << 8) |
+ ((((unsigned int)(this_usbduxsub->insnBuffer[3]))&0xff) << 16);
+
+ s->state = data[1];
+
+ mutex_unlock(&this_usbduxsub->sem);
+ return 2;
+}
+
+/***********************************/
+/* PWM */
+
+static int usbduxsub_unlink_PwmURBs(struct usbduxsub *usbduxsub_tmp)
+{
+ int err = 0;
+
+ if (usbduxsub_tmp && usbduxsub_tmp->urbPwm) {
+ if (usbduxsub_tmp->urbPwm)
+ usb_kill_urb(usbduxsub_tmp->urbPwm);
+ dev_dbg(&usbduxsub_tmp->interface->dev,
+ "comedi: unlinked PwmURB: res=%d\n", err);
+ }
+ return err;
+}
+
+/* This cancels a running acquisition operation
+ * in any context.
+ */
+static int usbdux_pwm_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
+{
+ int ret = 0;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi: %s\n", __func__);
+ if (do_unlink)
+ ret = usbduxsub_unlink_PwmURBs(this_usbduxsub);
+
+ this_usbduxsub->pwm_cmd_running = 0;
+
+ return ret;
+}
+
+/* force unlink - is called by comedi */
+static int usbdux_pwm_cancel(comedi_device *dev,
+ comedi_subdevice *s)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int res = 0;
+
+ /* unlink only if it is really running */
+ res = usbdux_pwm_stop(this_usbduxsub, this_usbduxsub->pwm_cmd_running);
+
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi %d: sending pwm off command to the usb device.\n",
+ dev->minor);
+ res = send_dux_commands(this_usbduxsub, SENDPWMOFF);
+ if (res < 0)
+ return res;
+
+ return res;
+}
+
+static void usbduxsub_pwm_irq(struct urb *urb)
+{
+ int ret;
+ struct usbduxsub *this_usbduxsub;
+ comedi_device *this_comedidev;
+ comedi_subdevice *s;
+
+ /* printk(KERN_DEBUG "PWM: IRQ\n"); */
+
+ /* the context variable points to the subdevice */
+ this_comedidev = urb->context;
+ /* the private structure of the subdevice is struct usbduxsub */
+ this_usbduxsub = this_comedidev->private;
+
+ s = this_comedidev->subdevices + SUBDEV_DA;
+
+ switch (urb->status) {
+ case 0:
+ /* success */
+ break;
+
+ case -ECONNRESET:
+ case -ENOENT:
+ case -ESHUTDOWN:
+ case -ECONNABORTED:
+ /*
+ * after an unlink command, unplug, ... etc
+ * no unlink needed here. Already shutting down.
+ */
+ if (this_usbduxsub->pwm_cmd_running)
+ usbdux_pwm_stop(this_usbduxsub, 0);
+
+ return;
+
+ default:
+ /* a real error */
+ if (this_usbduxsub->pwm_cmd_running) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi_: Non-zero urb status received in "
+ "pwm intr context: %d\n", urb->status);
+ usbdux_pwm_stop(this_usbduxsub, 0);
+ }
+ return;
+ }
+
+ /* are we actually running? */
+ if (!(this_usbduxsub->pwm_cmd_running))
+ return;
+
+ urb->transfer_buffer_length = this_usbduxsub->sizePwmBuf;
+ urb->dev = this_usbduxsub->usbdev;
+ urb->status = 0;
+ if (this_usbduxsub->pwm_cmd_running) {
+ ret = usb_submit_urb(urb, GFP_ATOMIC);
+ if (ret < 0) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi_: pwm urb resubm failed in int-cont. "
+ "ret=%d", ret);
+ if (ret == EL2NSYNC)
+ dev_err(&this_usbduxsub->interface->dev,
+ "buggy USB host controller or bug in "
+ "IRQ handling!\n");
+
+ /* don't do an unlink here */
+ usbdux_pwm_stop(this_usbduxsub, 0);
+ }
+ }
+}
+
+static int usbduxsub_submit_PwmURBs(struct usbduxsub *usbduxsub)
+{
+ int errFlag;
+
+ if (!usbduxsub)
+ return -EFAULT;
+
+ dev_dbg(&usbduxsub->interface->dev, "comedi_: submitting pwm-urb\n");
+
+ /* in case of a resubmission after an unlink... */
+ usb_fill_bulk_urb(usbduxsub->urbPwm,
+ usbduxsub->usbdev,
+ usb_sndbulkpipe(usbduxsub->usbdev, PWM_EP),
+ usbduxsub->urbPwm->transfer_buffer,
+ usbduxsub->sizePwmBuf, usbduxsub_pwm_irq,
+ usbduxsub->comedidev);
+
+ errFlag = usb_submit_urb(usbduxsub->urbPwm, GFP_ATOMIC);
+ if (errFlag) {
+ dev_err(&usbduxsub->interface->dev,
+ "comedi_: usbduxsigma: pwm: usb_submit_urb error %d\n",
+ errFlag);
+ return errFlag;
+ }
+ return 0;
+}
+
+static int usbdux_pwm_period(comedi_device *dev,
+ comedi_subdevice *s, unsigned int period)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int fx2delay = 255;
+
+ if (period < MIN_PWM_PERIOD) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: illegal period setting for pwm.\n",
+ dev->minor);
+ return -EAGAIN;
+ } else {
+ fx2delay = period / ((int)(6 * 512 * (1.0 / 0.033))) - 6;
+ if (fx2delay > 255) {
+ dev_err(&this_usbduxsub->interface->dev,
+ "comedi%d: period %d for pwm is too low.\n",
+ dev->minor, period);
+ return -EAGAIN;
+ }
+ }
+ this_usbduxsub->pwmDelay = fx2delay;
+ this_usbduxsub->pwmPeriod = period;
+ dev_dbg(&this_usbduxsub->interface->dev, "%s: frequ=%d, period=%d\n",
+ __func__, period, fx2delay);
+ return 0;
+}
+
+/* is called from insn so there's no need to do all the sanity checks */
+static int usbdux_pwm_start(comedi_device *dev,
+ comedi_subdevice *s)
+{
+ int ret, i;
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: %s\n",
+ dev->minor, __func__);
+
+ if (this_usbduxsub->pwm_cmd_running) {
+ /* already running */
+ return 0;
+ }
+
+ this_usbduxsub->dux_commands[1] = ((uint8_t) this_usbduxsub->pwmDelay);
+ ret = send_dux_commands(this_usbduxsub, SENDPWMON);
+ if (ret < 0)
+ return ret;
+
+ /* initialise the buffer */
+ for (i = 0; i < this_usbduxsub->sizePwmBuf; i++)
+ ((char *)(this_usbduxsub->urbPwm->transfer_buffer))[i] = 0;
+
+ this_usbduxsub->pwm_cmd_running = 1;
+ ret = usbduxsub_submit_PwmURBs(this_usbduxsub);
+ if (ret < 0) {
+ this_usbduxsub->pwm_cmd_running = 0;
+ return ret;
+ }
+ return 0;
+}
+
+/* generates the bit pattern for PWM with the optional sign bit */
+static int usbdux_pwm_pattern(comedi_device *dev,
+ comedi_subdevice *s, int channel,
+ unsigned int value, unsigned int sign)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ int i, szbuf;
+ char *pBuf;
+ char pwm_mask;
+ char sgn_mask;
+ char c;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ /* this is the DIO bit which carries the PWM data */
+ pwm_mask = (1 << channel);
+ /* this is the DIO bit which carries the optional direction bit */
+ sgn_mask = (16 << channel);
+ /* this is the buffer which will be filled with the with bit */
+ /* pattern for one period */
+ szbuf = this_usbduxsub->sizePwmBuf;
+ pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer);
+ for (i = 0; i < szbuf; i++) {
+ c = *pBuf;
+ /* reset bits */
+ c = c & (~pwm_mask);
+ /* set the bit as long as the index is lower than the value */
+ if (i < value)
+ c = c | pwm_mask;
+ /* set the optional sign bit for a relay */
+ if (!sign) {
+ /* positive value */
+ c = c & (~sgn_mask);
+ } else {
+ /* negative value */
+ c = c | sgn_mask;
+ }
+ *(pBuf++) = c;
+ }
+ return 1;
+}
+
+static int usbdux_pwm_write(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+
+ if (!this_usbduxsub)
+ return -EFAULT;
+
+ if ((insn->n) != 1) {
+ /*
+ * doesn't make sense to have more than one value here because
+ * it would just overwrite the PWM buffer a couple of times
+ */
+ return -EINVAL;
+ }
+
+ /*
+ * the sign is set via a special INSN only, this gives us 8 bits for
+ * normal operation
+ * relay sign 0 by default
+ */
+ return usbdux_pwm_pattern(dev, s, CR_CHAN(insn->chanspec), data[0], 0);
+}
+
+static int usbdux_pwm_read(comedi_device *x1,
+ comedi_subdevice *x2, comedi_insn *x3,
+ unsigned int *x4)
+{
+ /* not needed */
+ return -EINVAL;
+};
+
+/* switches on/off PWM */
+static int usbdux_pwm_config(comedi_device *dev,
+ comedi_subdevice *s,
+ comedi_insn *insn, unsigned int *data)
+{
+ struct usbduxsub *this_usbduxsub = dev->private;
+ switch (data[0]) {
+ case INSN_CONFIG_ARM:
+ /* switch it on */
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: %s: pwm on\n", dev->minor, __func__);
+ /*
+ * if not zero the PWM is limited to a certain time which is
+ * not supported here
+ */
+ if (data[1] != 0)
+ return -EINVAL;
+ return usbdux_pwm_start(dev, s);
+ case INSN_CONFIG_DISARM:
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: %s: pwm off\n", dev->minor, __func__);
+ return usbdux_pwm_cancel(dev, s);
+ case INSN_CONFIG_GET_PWM_STATUS:
+ /*
+ * to check if the USB transmission has failed or in case PWM
+ * was limited to n cycles to check if it has terminated
+ */
+ data[1] = this_usbduxsub->pwm_cmd_running;
+ return 0;
+ case INSN_CONFIG_PWM_SET_PERIOD:
+ dev_dbg(&this_usbduxsub->interface->dev,
+ "comedi%d: %s: setting period\n", dev->minor,
+ __func__);
+ return usbdux_pwm_period(dev, s, data[1]);
+ case INSN_CONFIG_PWM_GET_PERIOD:
+ data[1] = this_usbduxsub->pwmPeriod;
+ return 0;
+ case INSN_CONFIG_PWM_SET_H_BRIDGE:
+ /* value in the first byte and the sign in the second for a
+ relay */
+ return usbdux_pwm_pattern(dev, s,
+ /* the channel number */
+ CR_CHAN(insn->chanspec),
+ /* actual PWM data */
+ data[1],
+ /* just a sign */
+ (data[2] != 0));
+ case INSN_CONFIG_PWM_GET_H_BRIDGE:
+ /* values are not kept in this driver, nothing to return */
+ return -EINVAL;
+ }
+ return -EINVAL;
+}
+
+/* end of PWM */
+/*****************************************************************/
+
+static void tidy_up(struct usbduxsub *usbduxsub_tmp)
+{
+ int i;
+
+ if (!usbduxsub_tmp)
+ return;
+ dev_dbg(&usbduxsub_tmp->interface->dev, "comedi_: tiding up\n");
+
+ /* shows the usb subsystem that the driver is down */
+ if (usbduxsub_tmp->interface)
+ usb_set_intfdata(usbduxsub_tmp->interface, NULL);
+
+ usbduxsub_tmp->probed = 0;
+
+ if (usbduxsub_tmp->urbIn) {
+ if (usbduxsub_tmp->ai_cmd_running) {
+ usbduxsub_tmp->ai_cmd_running = 0;
+ usbduxsub_unlink_InURBs(usbduxsub_tmp);
+ }
+ for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
+ kfree(usbduxsub_tmp->urbIn[i]->transfer_buffer);
+ usbduxsub_tmp->urbIn[i]->transfer_buffer = NULL;
+ usb_kill_urb(usbduxsub_tmp->urbIn[i]);
+ usb_free_urb(usbduxsub_tmp->urbIn[i]);
+ usbduxsub_tmp->urbIn[i] = NULL;
+ }
+ kfree(usbduxsub_tmp->urbIn);
+ usbduxsub_tmp->urbIn = NULL;
+ }
+ if (usbduxsub_tmp->urbOut) {
+ if (usbduxsub_tmp->ao_cmd_running) {
+ usbduxsub_tmp->ao_cmd_running = 0;
+ usbduxsub_unlink_OutURBs(usbduxsub_tmp);
+ }
+ for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
+ if (usbduxsub_tmp->urbOut[i]->transfer_buffer) {
+ kfree(usbduxsub_tmp->
+ urbOut[i]->transfer_buffer);
+ usbduxsub_tmp->urbOut[i]->transfer_buffer =
+ NULL;
+ }
+ if (usbduxsub_tmp->urbOut[i]) {
+ usb_kill_urb(usbduxsub_tmp->urbOut[i]);
+ usb_free_urb(usbduxsub_tmp->urbOut[i]);
+ usbduxsub_tmp->urbOut[i] = NULL;
+ }
+ }
+ kfree(usbduxsub_tmp->urbOut);
+ usbduxsub_tmp->urbOut = NULL;
+ }
+ if (usbduxsub_tmp->urbPwm) {
+ if (usbduxsub_tmp->pwm_cmd_running) {
+ usbduxsub_tmp->pwm_cmd_running = 0;
+ usbduxsub_unlink_PwmURBs(usbduxsub_tmp);
+ }
+ kfree(usbduxsub_tmp->urbPwm->transfer_buffer);
+ usbduxsub_tmp->urbPwm->transfer_buffer = NULL;
+ usb_kill_urb(usbduxsub_tmp->urbPwm);
+ usb_free_urb(usbduxsub_tmp->urbPwm);
+ usbduxsub_tmp->urbPwm = NULL;
+ }
+ kfree(usbduxsub_tmp->inBuffer);
+ usbduxsub_tmp->inBuffer = NULL;
+ kfree(usbduxsub_tmp->insnBuffer);
+ usbduxsub_tmp->insnBuffer = NULL;
+ kfree(usbduxsub_tmp->outBuffer);
+ usbduxsub_tmp->outBuffer = NULL;
+ kfree(usbduxsub_tmp->dac_commands);
+ usbduxsub_tmp->dac_commands = NULL;
+ kfree(usbduxsub_tmp->dux_commands);
+ usbduxsub_tmp->dux_commands = NULL;
+ usbduxsub_tmp->ai_cmd_running = 0;
+ usbduxsub_tmp->ao_cmd_running = 0;
+ usbduxsub_tmp->pwm_cmd_running = 0;
+}
+
+static void usbdux_firmware_request_complete_handler(const struct firmware *fw,
+ void *context)
+{
+ struct usbduxsub *usbduxsub_tmp = context;
+ struct usb_device *usbdev = usbduxsub_tmp->usbdev;
+ int ret;
+
+ if (fw == NULL) {
+ dev_err(&usbdev->dev,
+ "Firmware complete handler without firmware!\n");
+ return;
+ }
+
+ /*
+ * we need to upload the firmware here because fw will be
+ * freed once we've left this function
+ */
+ ret = firmwareUpload(usbduxsub_tmp, fw->data, fw->size);
+
+ if (ret) {
+ dev_err(&usbdev->dev,
+ "Could not upload firmware (err=%d)\n", ret);
+ goto out;
+ }
+ comedi_usb_auto_config(usbdev, BOARDNAME);
+out:
+ /*
+ * in more recent versions the completion handler
+ * had to release the firmware whereas in older
+ * versions this has been done by the caller
+ */
+#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,32)
+ release_firmware(fw);
+#else
+ while (0);
+#endif
+}
+
+/* allocate memory for the urbs and initialise them */
+static int usbduxsigma_probe(struct usb_interface *uinterf,
+ const struct usb_device_id *id)
+{
+ struct usb_device *udev = interface_to_usbdev(uinterf);
+ struct device *dev = &uinterf->dev;
+ int i;
+ int index;
+ int ret;
+
+ dev_dbg(dev, "comedi_: usbdux_: "
+ "finding a free structure for the usb-device\n");
+
+ mutex_lock(&start_stop_sem);
+ /* look for a free place in the usbdux array */
+ index = -1;
+ for (i = 0; i < NUMUSBDUX; i++) {
+ if (!(usbduxsub[i].probed)) {
+ index = i;
+ break;
+ }
+ }
+
+ /* no more space */
+ if (index == -1) {
+ dev_err(dev, "Too many usbduxsigma-devices connected.\n");
+ mutex_unlock(&start_stop_sem);
+ return -EMFILE;
+ }
+ dev_dbg(dev, "comedi_: usbdux: "
+ "usbduxsub[%d] is ready to connect to comedi.\n", index);
+
+#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,33)
+ sema_init(&(usbduxsub[index].sem), 1);
+#else
+ mutex_init(&(usbduxsub[index].sem));
+#endif
+
+ /* save a pointer to the usb device */
+ usbduxsub[index].usbdev = udev;
+
+ /* save the interface itself */
+ usbduxsub[index].interface = uinterf;
+ /* get the interface number from the interface */
+ usbduxsub[index].ifnum = uinterf->altsetting->desc.bInterfaceNumber;
+ /* hand the private data over to the usb subsystem */
+ /* will be needed for disconnect */
+ usb_set_intfdata(uinterf, &(usbduxsub[index]));
+
+ dev_dbg(dev, "comedi_: usbdux: ifnum=%d\n", usbduxsub[index].ifnum);
+
+ /* test if it is high speed (USB 2.0) */
+ usbduxsub[index].high_speed =
+ (usbduxsub[index].usbdev->speed == USB_SPEED_HIGH);
+
+ /* create space for the commands of the DA converter */
+ usbduxsub[index].dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
+ if (!usbduxsub[index].dac_commands) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "error alloc space for dac commands\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ /* create space for the commands going to the usb device */
+ usbduxsub[index].dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
+ if (!usbduxsub[index].dux_commands) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "error alloc space for dux commands\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ /* create space for the in buffer and set it to zero */
+ usbduxsub[index].inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].inBuffer)) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "could not alloc space for inBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ /* create space of the instruction buffer */
+ usbduxsub[index].insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].insnBuffer)) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "could not alloc space for insnBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ /* create space for the outbuffer */
+ usbduxsub[index].outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].outBuffer)) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "could not alloc space for outBuffer\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ /* setting to alternate setting 3: enabling iso ep and bulk ep. */
+ i = usb_set_interface(usbduxsub[index].usbdev,
+ usbduxsub[index].ifnum, 3);
+ if (i < 0) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "could not set alternate setting 3 in high speed.\n",
+ index);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENODEV;
+ }
+ if (usbduxsub[index].high_speed)
+ usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSHIGH;
+ else
+ usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSFULL;
+
+ usbduxsub[index].urbIn =
+ kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfInBuffers,
+ GFP_KERNEL);
+ if (!(usbduxsub[index].urbIn)) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "Could not alloc. urbIn array\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ for (i = 0; i < usbduxsub[index].numOfInBuffers; i++) {
+ /* one frame: 1ms */
+ usbduxsub[index].urbIn[i] = usb_alloc_urb(1, GFP_KERNEL);
+ if (usbduxsub[index].urbIn[i] == NULL) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "Could not alloc. urb(%d)\n", index, i);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ usbduxsub[index].urbIn[i]->dev = usbduxsub[index].usbdev;
+ /* will be filled later with a pointer to the comedi-device */
+ /* and ONLY then the urb should be submitted */
+ usbduxsub[index].urbIn[i]->context = NULL;
+ usbduxsub[index].urbIn[i]->pipe =
+ usb_rcvisocpipe(usbduxsub[index].usbdev, ISOINEP);
+ usbduxsub[index].urbIn[i]->transfer_flags = URB_ISO_ASAP;
+ usbduxsub[index].urbIn[i]->transfer_buffer =
+ kzalloc(SIZEINBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].urbIn[i]->transfer_buffer)) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "could not alloc. transb.\n", index);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ usbduxsub[index].urbIn[i]->complete = usbduxsub_ai_IsocIrq;
+ usbduxsub[index].urbIn[i]->number_of_packets = 1;
+ usbduxsub[index].urbIn[i]->transfer_buffer_length = SIZEINBUF;
+ usbduxsub[index].urbIn[i]->iso_frame_desc[0].offset = 0;
+ usbduxsub[index].urbIn[i]->iso_frame_desc[0].length =
+ SIZEINBUF;
+ }
+
+ /* out */
+ if (usbduxsub[index].high_speed)
+ usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSHIGH;
+ else
+ usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSFULL;
+
+ usbduxsub[index].urbOut =
+ kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfOutBuffers,
+ GFP_KERNEL);
+ if (!(usbduxsub[index].urbOut)) {
+ dev_err(dev, "comedi_: usbduxsigma: "
+ "Could not alloc. urbOut array\n");
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ for (i = 0; i < usbduxsub[index].numOfOutBuffers; i++) {
+ /* one frame: 1ms */
+ usbduxsub[index].urbOut[i] = usb_alloc_urb(1, GFP_KERNEL);
+ if (usbduxsub[index].urbOut[i] == NULL) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "Could not alloc. urb(%d)\n", index, i);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ usbduxsub[index].urbOut[i]->dev = usbduxsub[index].usbdev;
+ /* will be filled later with a pointer to the comedi-device */
+ /* and ONLY then the urb should be submitted */
+ usbduxsub[index].urbOut[i]->context = NULL;
+ usbduxsub[index].urbOut[i]->pipe =
+ usb_sndisocpipe(usbduxsub[index].usbdev, ISOOUTEP);
+ usbduxsub[index].urbOut[i]->transfer_flags = URB_ISO_ASAP;
+ usbduxsub[index].urbOut[i]->transfer_buffer =
+ kzalloc(SIZEOUTBUF, GFP_KERNEL);
+ if (!(usbduxsub[index].urbOut[i]->transfer_buffer)) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "could not alloc. transb.\n", index);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ usbduxsub[index].urbOut[i]->complete = usbduxsub_ao_IsocIrq;
+ usbduxsub[index].urbOut[i]->number_of_packets = 1;
+ usbduxsub[index].urbOut[i]->transfer_buffer_length =
+ SIZEOUTBUF;
+ usbduxsub[index].urbOut[i]->iso_frame_desc[0].offset = 0;
+ usbduxsub[index].urbOut[i]->iso_frame_desc[0].length =
+ SIZEOUTBUF;
+ if (usbduxsub[index].high_speed) {
+ /* uframes */
+ usbduxsub[index].urbOut[i]->interval = 8;
+ } else {
+ /* frames */
+ usbduxsub[index].urbOut[i]->interval = 1;
+ }
+ }
+
+ /* pwm */
+ if (usbduxsub[index].high_speed) {
+ /* max bulk ep size in high speed */
+ usbduxsub[index].sizePwmBuf = 512;
+ usbduxsub[index].urbPwm = usb_alloc_urb(0, GFP_KERNEL);
+ if (usbduxsub[index].urbPwm == NULL) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "Could not alloc. pwm urb\n", index);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ usbduxsub[index].urbPwm->transfer_buffer =
+ kzalloc(usbduxsub[index].sizePwmBuf, GFP_KERNEL);
+ if (!(usbduxsub[index].urbPwm->transfer_buffer)) {
+ dev_err(dev, "comedi_: usbduxsigma%d: "
+ "could not alloc. transb. for pwm\n", index);
+ tidy_up(&(usbduxsub[index]));
+ mutex_unlock(&start_stop_sem);
+ return -ENOMEM;
+ }
+ } else {
+ usbduxsub[index].urbPwm = NULL;
+ usbduxsub[index].sizePwmBuf = 0;
+ }
+
+ usbduxsub[index].ai_cmd_running = 0;
+ usbduxsub[index].ao_cmd_running = 0;
+ usbduxsub[index].pwm_cmd_running = 0;
+
+ /* we've reached the bottom of the function */
+ usbduxsub[index].probed = 1;
+ mutex_unlock(&start_stop_sem);
+
+ ret = request_firmware_nowait(THIS_MODULE,
+ FW_ACTION_HOTPLUG,
+ "usbduxsigma_firmware.bin",
+ &udev->dev,
+ GFP_KERNEL,
+ usbduxsub + index,
+ usbdux_firmware_request_complete_handler
+ );
+
+ if (ret) {
+ dev_err(dev, "Could not load firmware (err=%d)\n", ret);
+ return ret;
+ }
+
+ dev_info(dev, "comedi_: successfully initialised.\n");
+ /* success */
+ return 0;
+}
+
+static void usbduxsigma_disconnect(struct usb_interface *intf)
+{
+ struct usbduxsub *usbduxsub_tmp = usb_get_intfdata(intf);
+ struct usb_device *udev = interface_to_usbdev(intf);
+
+ if (!usbduxsub_tmp) {
+ dev_err(&intf->dev,
+ "comedi_: disconnect called with null pointer.\n");
+ return;
+ }
+ if (usbduxsub_tmp->usbdev != udev) {
+ dev_err(&intf->dev, "comedi_: BUG! wrong ptr!\n");
+ return;
+ }
+ if (usbduxsub_tmp->ai_cmd_running)
+ /* we are still running a command */
+ usbdux_ai_stop(usbduxsub_tmp, 1);
+ if (usbduxsub_tmp->ao_cmd_running)
+ /* we are still running a command */
+ usbdux_ao_stop(usbduxsub_tmp, 1);
+ comedi_usb_auto_unconfig(udev);
+ mutex_lock(&start_stop_sem);
+ mutex_lock(&usbduxsub_tmp->sem);
+ tidy_up(usbduxsub_tmp);
+ mutex_unlock(&usbduxsub_tmp->sem);
+ mutex_unlock(&start_stop_sem);
+ dev_info(&intf->dev, "comedi_: disconnected from the usb\n");
+}
+
+/* is called when comedi-config is called */
+static int usbduxsigma_attach(comedi_device *dev,
+ comedi_devconfig *it)
+{
+ int ret;
+ int index;
+ int i;
+ struct usbduxsub *udev;
+
+ int offset;
+
+ comedi_subdevice *s = NULL;
+ dev->private = NULL;
+
+ mutex_lock(&start_stop_sem);
+ /* find a valid device which has been detected by the probe function of
+ * the usb */
+ index = -1;
+ for (i = 0; i < NUMUSBDUX; i++) {
+ if ((usbduxsub[i].probed) && (!usbduxsub[i].attached)) {
+ index = i;
+ break;
+ }
+ }
+
+ if (index < 0) {
+ printk(KERN_ERR "comedi%d: usbduxsigma: error: attach failed,"
+ "dev not connected to the usb bus.\n", dev->minor);
+ mutex_unlock(&start_stop_sem);
+ return -ENODEV;
+ }
+
+ udev = &usbduxsub[index];
+ mutex_lock(&udev->sem);
+ /* pointer back to the corresponding comedi device */
+ udev->comedidev = dev;
+
+ /* trying to upload the firmware into the FX2 */
+ if (comedi_aux_data(it->options, 0) &&
+ it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]) {
+ firmwareUpload(udev, comedi_aux_data(it->options, 0),
+ it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]);
+ }
+
+ dev->board_name = BOARDNAME;
+
+ /* set number of subdevices */
+ if (udev->high_speed) {
+ /* with pwm */
+ dev->n_subdevices = 4;
+ } else {
+ /* without pwm */
+ dev->n_subdevices = 3;
+ }
+
+ /* allocate space for the subdevices */
+ ret = alloc_subdevices(dev, dev->n_subdevices);
+ if (ret < 0) {
+ dev_err(&udev->interface->dev,
+ "comedi%d: no space for subdev\n", dev->minor);
+ mutex_unlock(&start_stop_sem);
+ return ret;
+ }
+
+ /* private structure is also simply the usb-structure */
+ dev->private = udev;
+
+ /* the first subdevice is the A/D converter */
+ s = dev->subdevices + SUBDEV_AD;
+ /* the URBs get the comedi subdevice */
+ /* which is responsible for reading */
+ /* this is the subdevice which reads data */
+ dev->read_subdev = s;
+ /* the subdevice receives as private structure the */
+ /* usb-structure */
+ s->private = NULL;
+ /* analog input */
+ s->type = COMEDI_SUBD_AI;
+ /* readable and ref is to ground, 32 bit wide data! */
+ s->subdev_flags = SDF_READABLE | SDF_GROUND |
+ SDF_CMD_READ | SDF_LSAMPL;
+ /* 16 A/D channels */
+ s->n_chan = NUMCHANNELS;
+ /* length of the channellist */
+ s->len_chanlist = NUMCHANNELS;
+ /* callback functions */
+ s->insn_read = usbdux_ai_insn_read;
+ s->do_cmdtest = usbdux_ai_cmdtest;
+ s->do_cmd = usbdux_ai_cmd;
+ s->cancel = usbdux_ai_cancel;
+ /* max value from the A/D converter (24bit) */
+ s->maxdata = 0x00FFFFFF;
+ /* range table to convert to physical units */
+ s->range_table = (&range_usbdux_ai_range);
+
+ /* analog out */
+ s = dev->subdevices + SUBDEV_DA;
+ /* analog out */
+ s->type = COMEDI_SUBD_AO;
+ /* backward pointer */
+ dev->write_subdev = s;
+ /* the subdevice receives as private structure the */
+ /* usb-structure */
+ s->private = NULL;
+ /* are writable */
+ s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
+ /* 4 channels */
+ s->n_chan = 4;
+ /* length of the channellist */
+ s->len_chanlist = 4;
+ /* 8 bit resolution */
+ s->maxdata = 0x00ff;
+ /* unipolar range */
+ s->range_table = (&range_usbdux_ao_range);
+ /* callback */
+ s->do_cmdtest = usbdux_ao_cmdtest;
+ s->do_cmd = usbdux_ao_cmd;
+ s->cancel = usbdux_ao_cancel;
+ s->insn_read = usbdux_ao_insn_read;
+ s->insn_write = usbdux_ao_insn_write;
+
+ /* digital I/O */
+ s = dev->subdevices + SUBDEV_DIO;
+ s->type = COMEDI_SUBD_DIO;
+ s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
+ /* 8 external and 16 internal channels */
+ s->n_chan = 24;
+ s->maxdata = 1;
+ s->range_table = (&range_digital);
+ s->insn_bits = usbdux_dio_insn_bits;
+ s->insn_config = usbdux_dio_insn_config;
+ /* we don't use it */
+ s->private = NULL;
+
+ if (udev->high_speed) {
+ /* timer / pwm */
+ s = dev->subdevices + SUBDEV_PWM;
+ s->type = COMEDI_SUBD_PWM;
+ s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
+ s->n_chan = 8;
+ /* this defines the max duty cycle resolution */
+ s->maxdata = udev->sizePwmBuf;
+ s->insn_write = usbdux_pwm_write;
+ s->insn_read = usbdux_pwm_read;
+ s->insn_config = usbdux_pwm_config;
+ usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
+ }
+ /* finally decide that it's attached */
+ udev->attached = 1;
+
+ mutex_unlock(&udev->sem);
+
+ mutex_unlock(&start_stop_sem);
+
+ offset = usbdux_getstatusinfo(dev, 0);
+ if (offset < 0)
+ dev_err(&udev->interface->dev,
+ "Communication to USBDUXSIGMA failed!"
+ "Check firmware and cabling.");
+
+ dev_info(&udev->interface->dev,
+ "comedi%d: attached, ADC_zero = %x", dev->minor, offset);
+
+ return 0;
+}
+
+static int usbduxsigma_detach(comedi_device *dev)
+{
+ struct usbduxsub *usbduxsub_tmp;
+
+ if (!dev) {
+ printk(KERN_ERR
+ "comedi? usbduxsigma detach: dev=NULL\n");
+ return -EFAULT;
+ }
+
+ usbduxsub_tmp = dev->private;
+ if (!usbduxsub_tmp) {
+ printk(KERN_ERR
+ "comedi?: usbduxsigma detach: private=NULL\n");
+ return -EFAULT;
+ }
+
+ dev_dbg(&usbduxsub_tmp->interface->dev,
+ "comedi%d: detach usb device\n",
+ dev->minor);
+
+ mutex_lock(&usbduxsub_tmp->sem);
+ /* Don't allow detach to free the private structure */
+ /* It's one entry of of usbduxsub[] */
+ dev->private = NULL;
+ usbduxsub_tmp->attached = 0;
+ usbduxsub_tmp->comedidev = NULL;
+ dev_info(&usbduxsub_tmp->interface->dev,
+ "comedi%d: successfully detached.\n", dev->minor);
+ mutex_unlock(&usbduxsub_tmp->sem);
+ return 0;
+}
+
+/* main driver struct */
+static comedi_driver driver_usbduxsigma = {
+ .driver_name = "usbduxsigma",
+ .module = THIS_MODULE,
+ .attach = usbduxsigma_attach,
+ .detach = usbduxsigma_detach,
+};
+
+/* Table with the USB-devices */
+static const struct usb_device_id usbduxsigma_table[] = {
+ {USB_DEVICE(0x13d8, 0x0020)},
+ {USB_DEVICE(0x13d8, 0x0021)},
+ {USB_DEVICE(0x13d8, 0x0022)},
+ {} /* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, usbduxsigma_table);
+
+/* The usbduxsub-driver */
+static struct usb_driver usbduxsigma_driver = {
+ .name = BOARDNAME,
+ .probe = usbduxsigma_probe,
+ .disconnect = usbduxsigma_disconnect,
+ .id_table = usbduxsigma_table,
+};
+
+/* Can't use the nice macro as I have also to initialise the USB */
+/* subsystem: */
+/* registering the usb-system _and_ the comedi-driver */
+static int __init init_usbduxsigma(void)
+{
+ printk(KERN_INFO KBUILD_MODNAME ": "
+ DRIVER_VERSION ":" DRIVER_DESC "\n");
+ usb_register(&usbduxsigma_driver);
+ comedi_driver_register(&driver_usbduxsigma);
+ return 0;
+}
+
+/* deregistering the comedi driver and the usb-subsystem */
+static void __exit exit_usbduxsigma(void)
+{
+ comedi_driver_unregister(&driver_usbduxsigma);
+ usb_deregister(&usbduxsigma_driver);
+}
+
+module_init(init_usbduxsigma);
+module_exit(exit_usbduxsigma);
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_LICENSE("GPL");
projects / comedi.git / commitdiff